I can’t seem to find a way using ofRotate or ofTranslate to feed it my matrix I created, R, and tell the world to apply that transformation matrix to the current state.

There are two solutions I can see to this problem, input is welcome on either!

Is there a way to tell the world matrix to rotate/translate to a specific vector, i.e. send <0,0,1> to <x,y,z>?

If not, I have come up with the appropriate transformation matrix, ofMatrix3x3 (call it R), how can I say something like ofRotate(by matrix R), rotating the unit vector <0,0,1> by applying R?